//
// Created by Wirano on 2020/11/9.
//

#ifndef ANO_PORT_ANO_LOCCTRL_H
#define ANO_PORT_ANO_LOCCTRL_H

/* Includes ------------------------------------------------------------------*/
#include "Ano_FcData.h"
#include "Ano_Filter.h"
#include "Ano_Math.h"
#include "Ano_Pid.h"
/* Exported types ------------------------------------------------------------*/

typedef struct
{
	float exp[VEC_XYZ];//期望值
	float fb[VEC_XYZ];//反馈值，目前值


	float out[VEC_XYZ];//输出值
}_loc_ctrl_st;// loc_ctrl;
extern _loc_ctrl_st loc_ctrl_1;//当前的速度环值
extern _loc_ctrl_st loc_ctrl_2;//当前的位置值值
/* Exported constants --------------------------------------------------------*/

extern _PID_arg_st loc_arg_1[] ;
extern _PID_val_st loc_val_1[] ;
/* Exported macro ------------------------------------------------------------*/
/* Exported functions ------------------------------------------------------- */

void Loc_1level_PID_Init(void);
void Loc_1level_Ctrl(uint16_t dT_ms,int16_t *CH_N);

#endif //ANO_PORT_ANO_LOCCTRL_H
